CN103677853A - Method for achieving HIT-TENA middleware in DM642 type DSP - Google Patents

Abstract

A method for realizing HIT-TENA middleware in DM642 type DSP, the invention relates to a method for realizing HIT-TENA middleware in DM642 type DSP. The invention aims to realize the service of the HIT-TENA middleware, solve the incompatibility of heterogeneous systems, and solve the problem of poor real-time performance of real-time access equipment accessing the HIT-TENA platform. Step 1. Define the transmitted data structure according to the interface type, data element type, message header format and message body format of different services of the HIT-TENA system; Step 2. Divide the middleware into network threads, data processing threads and data assembly threads ; wherein the network thread includes a UDP receiving thread, a UDP sending thread, a TCP receiving thread and a TCP sending thread, and the middleware performs message delivery according to the data structure described in step one. The invention belongs to the technical field of virtual simulation test software development.

Description

A kind of method that realizes HIT-TENA middleware in DM642 type DSP

Technical field

The present invention relates to realize the method for HIT-TENA middleware in DM642 type DSP, belong to virtual simulation test software development technique field.

Background technology

Demand for test and training field, using for reference HLA(High Level Architecture, High Level Architecture) on basis, U.S. Department of Defense is by Foundation Planning 2010(FI2010) engineering development " test training enable architecture " (Test and Training Enabling Architecture, TENA), realize interoperability between the resource of target range, reuse with capable of being combined.By TENA architecture, can the resource that be distributed in each target range is interconnected, build " logic target range " for testing training.

The test training of Harbin Institute of Technology's exploitation enables architecture (Harbin Institute of Technology-Test and Training Enabling Architecture, HIT-TENA) being the new architecture in Virtual Experiment Simulation and checking field, is the new direction of distributed simulation technology development.

At present, China's test area and defense industrial sector have been set up lot of experiments equipment, owing to not having unified standard to instruct, the external hardware interface of these testing equipments, Data Transport Protocol are different, especially Data Transport Protocol and HIT-TENA middleware are incompatible, belong to heterogeneous system, before access HIT-TENA platform, will carry out protocol conversion.Therefore, develop real-time resource access device, solve the real time problems of test resource access HIT-TENA platform, for platform, can effectively support that high-performance weapon virtual test task is vital.

Middleware is an important infrastructure of test training system structure, and it provides bottom communication support and basic service for upper layer application.The problems such as issue, data subscription issue are ordered in the main resolution system modeling of middleware, statement.

HIT-TENA middleware is used C Plus Plus exploitation, use ACE network library to realize cross-platform network programming, because CCS2.20.18 version provides very limited support to C++, particularly the operating system layer of ACE network library is not supported DSP/BIOS real time operating system, so existing HIT-TENA middleware can not run in DSP/BIOS.And because existing HIT-TENA middleware relies on the degree of depth of ACE, can not be transplanted to DSP/BIOS by simple modification.Therefore, need to be the middleware of resource access device exploitation towards DSP/BIOS real time operating system, and use NDK Web development tool bag, for the middleware software of DSP/BIOS provides network programming support to utilize DSP and NDK Design of network interface network thread, realized the service of HIT-TENA middleware.Middleware can be divided into three some network thread of part, data processing thread and data assembling thread, the wherein transmitting-receiving of the corresponding static modeling process service message bag of UDP message pack receiving and transmitting altogether; The transmitting-receiving of the transmitting-receiving corresponding objects management service message bag of tcp data bag.

Summary of the invention

The present invention is in order to realize the service of HIT-TENA middleware, and solve the incompatibility of heterogeneous system, solve the poor problem of real-time of real-time access device access HIT-TENA platform, and a kind of method that realizes HIT-TENA middleware in DM642 type DSP proposing.

A kind of method that realizes HIT-TENA middleware in DM642 type DSP of the present invention realizes according to the following steps:

Step 1, the data structure of transmitting according to interface type, data element type, message header form and the message body formal definition of the difference service of HIT-TENA system;

Step 2, middleware is divided into network thread, data processing thread and data assembling thread; Wherein said network thread comprises UDP receiving thread, UDP send-thread, TCP receiving thread and TCP send-thread, has completed a kind of method that realizes HIT-TENA middleware in DM642 type DSP.

Advantage of the present invention:

By the in-depth analysis to the research of middleware communication mechanism and packet, and the applying in a flexible way of DSP/BIOS thread communication technology and thread synchronization, realized middleware system modeling service, declaration management service, system operation service, lookup service and Object Management group service, solved resource access device and independently participated in the significant problem of pilot system.

Utilize this DSP of DM642 to realize the basic function of HIT-TENA middleware.Owing to supporting the operating system layer of the ACE network library of HIT-TENA not support DSP/BIOS real time operating system, therefore, need the middleware software of development support DSP/BIOS to reach this object.Owing to only need to realize the transmission of data in DSP, conversion, so can carry out the most basic service of cutting realization complete service.

Accompanying drawing explanation

Fig. 1 is the general frame of the middleware thread in embodiment one;

Fig. 2 is UDP receiving thread process flow diagram;

Fig. 3 is UDP send-thread process flow diagram;

Fig. 4 is TCP receiving thread process flow diagram;

Fig. 5 is traversal rfds process flow diagram;

Fig. 6 (a) adjusts upward maxfd process flow diagram;

Fig. 6 (b) adjusts maxfd process flow diagram downwards;

Fig. 7 is TCP send-thread process flow diagram;

Fig. 8 is the method for middleware thread waits response;

Fig. 9 is that UDP message bag is resolved and dispatch thread process flow diagram;

Figure 10 is heartbeat packet assembling thread process flow diagram;

Figure 11 is tcp data packing distribution journey process flow diagram;

Figure 12 is tcp data bag processing threads process flow diagram;

Figure 13 is M_Request_JoinSystem request message bag;

Figure 14 is M_JoinSystem notification message bag;

Figure 15 is M_ResignSystem notification message bag;

Figure 16 is M_Request_GetMemberObjects request message bag;

Figure 17 is that M_Reply_GetMemberObjects replys message bag;

Figure 18 is M_Request_SubscribeObject request message bag;

Figure 19 is that M_Reply_SubscribeObject replys message bag;

Figure 20 is M_JoinSystemExecution notification message bag;

Figure 21 is M_ResignSystemExecution notification message bag;

Figure 22 is object value updating message bag;

Figure 23 is M_MemberOnline message bag.

Embodiment

Embodiment one: a kind of method that realizes HIT-TENA middleware of present embodiment, it specifically should comprise following two parts:

Step 1, the data structure of transmitting according to interface type, data element type, message header form, the message body formal definition of the difference service of HIT-TENA system.

Step 2, middleware is divided into network thread, data processing thread and data assembling thread, wherein network thread comprises UDP receiving thread and send-thread, TCP receiving thread and send-thread, and thread dividing situation as shown in Figure 1.

In concrete step 2, the network thread of required realization is separated in different threads receiving and sending, and can remove influencing each other of receiving and send, and realizes data receiver and data and sends concurrent carrying out.Middleware only need to be announced UDP to other members of pilot system and receive the port numbers of socket and the port numbers that TCP receives socket, it is served by system modelling adds notifications message bag, to other members of pilot system, announce these port numbers with the system operation notification message bag that adds of system operation service, for further communicating by letter and lay the foundation.Its network thread comprising is as follows:

Concrete, the packet of its UDP assembles corresponding API design, it is characterized in that middleware has exposed a series of API to operation interface software, while sending instructions such as adding system, statement are ordered, startup operation in web page operation interface, these API of CGI thread dispatching, assembling request message bag or notification message bag, complete operation requirement.Its api interface comprises all objects of adding pilot system, obtaining system member issue, orders attribute, orders object, order cancellation attribute, order cancellation object, adds pilot system operation, adds pilot system operation, exits pilot system.Its implementation is as follows:

Concrete, the UDP message bag parsing of middleware and dispatch thread, heartbeat packet assembling thread, tcp data packing distribution journey, tcp data bag processing threads, its detailed design is as follows:

The advantage of present embodiment:

By the in-depth analysis to the research of middleware communication mechanism and packet, and the applying in a flexible way of DSP/BIOS thread communication technology and thread synchronization, realized middleware system modeling service, declaration management service, system operation service, lookup service and Object Management group service, solved resource access device and independently participated in the significant problem of pilot system.

Utilize this DSP of DM642 to realize the basic function of HIT-TENA middleware.Owing to supporting the operating system layer of the ACE network library of HIT-TENA not support DSP/BIOS real time operating system, therefore, need the middleware software of development support DSP/BIOS to reach this object.Owing to only need to realize the transmission of data in DSP, conversion, so can carry out the most basic service of cutting realization complete service.

Embodiment two: present embodiment is different from embodiment one: the difference service in described step 1 specifically comprises following five kinds of services: system modelling service, declaration management service, system operation service, Object Management group service and lookup service; Wherein, described system modelling service, declaration management service, system operation service and lookup service belong to static modeling process.Other step and parameter are identical with embodiment one.

Embodiment three: present embodiment is different from embodiment one or two: be specially according to the data structure of the interface type of the difference service of HIT-TENA system, data element type, message header form and the transmission of message body formal definition in described step 1:

First, the packet transmitting in static modeling process consists of message header and message body, and the form of described message header comprises message numbering, service name length, service name, type of message length, type of message, message name length, message name, member Name's length, member Name, message body length and message body totally 11 parts;

Described service name, type of message and message name are the identification strings for static modeling process service configuration, by different service names, compartment system modeling service, declaration management service, system operation service and discovery take four kinds of different services, according to different type of messages and message name, distinguish different operations;

The second, Object Management group service comprises polytype packet, and after the packet that the equipment that crops does not need to support, the type of message that resource access device Object Management group services package contains has 2 kinds, is respectively property value renewal and object value and upgrades;

The message format that described property value upgrades comprises total length of data packets, message type code, source member's title length, source member's title, source object title length, source object title, source Property Name length, source Property Name, timestamp sign, timestamp, property value length and attribute value data totally 12 parts;

Described object value is upgraded and is comprised total length of data packets, message type code, source member's title length, source member's title, source object title length, source object title, timestamp sign, timestamp, object value length and object value data totally 10 parts, the timestamp field of property value updating message and object value updating message is a structure, and size is 28 bytes.

Other step and parameter are identical with embodiment one or two.

Embodiment four: present embodiment is different from one of embodiment one to three: 5 kinds of described services are organized polytype packet according to certain rules by middleware, realize respective services and function, the whole process that member participates in pilot system can be divided into three states: exited pilot system, in pilot system and off-duty state with in pilot system running status, by sending the packet of certain type, the state of realizing switches;

When being in the state of " having exited pilot system ", when transmission adds the message of system requirements and adds the reply message of system, can send the message that adds system, now, system enters " at pilot system and off-duty " state, when system is in " at pilot system and off-duty " state, receive while nullifying system directive, system can forward the state state that " exited pilot system " to, and receives while carrying out instruction, can enter " in experimental system operation " state; When system is in " in pilot system operation " state, receive when cancellation system is carried out instruction, can return to the state of " at system and off-duty "; While being in " at pilot system and off-duty " state or " in pilot system operation " state, member needs timed sending heartbeat packet; While being in " at pilot system and off-duty " state, member can send declaration management service message bag, wraps and receives corresponding response, or send a notification message, thereby realize the order of object or attribute as sent a request message; While being in " in pilot system operation " state, member can move Object Management group service, receives and processing attribute value updating message or object value updating message bag, or sends property value updating message or object value updating message bag.

Other step and parameter are identical with one of embodiment one to three.

Embodiment five: present embodiment is different from one of embodiment one to four: in described step 2, all threads design according to the following steps:

Step 1, according to service request, design middleware related data structures;

Step 2, according to service request, design middleware network of relation thread;

Step 3, according to service request, the parsing of UDP message bag and the dispatch thread of design middleware, heartbeat packet assembling thread, tcp data are packed distribution journey and tcp data bag processing threads.

Other step and parameter are identical with one of embodiment one to four.

Embodiment six: present embodiment is different from one of embodiment one to five: the data structure of the transmission of definition described in step 1 comprises design member list, member orders list, issue list, responds data structure, the data structure of UDP transmit queue queue nodes, data structure and input queue and the output queue of TCP transmit queue queue nodes of waiting for structure UDP receiving queue node;

(1) member's list: the every terms of information that member's list comprises member, comprise IP address that member Name, middleware send static modeling process service data bag with the IP address of port numbers, transmission Object Management group service data bag with port numbers, the time, the member's running status that receive recently heartbeat packet be connected socket with TCP;

(2) member orders list: resource access device is ordered object or attribute by declaration management service to other members of pilot system;

Wherein, described order list is for storing these order relations, ordering list comprises object number, attribute number, member, title is resembled to title and Property Name, storage object order record and attribute order record, for object order record, the number field that sets a property is FFFFH, and Property Name is null character string, and object number and attribute number are object and the storage numbering of attribute information in resource access device;

(3) order list: the situation that the object of issue list storage resource access device or attribute are ordered by other members, comprises object number, attribute number and member's list node pointer in list;

(4) respond and wait for structure: this structure is waited for the process of replying message after sending and asking structure body for intermediary message; It comprises message numbering, message body length and message first address;

(5) data structure of UDP receiving queue node: the first address that the node of UDP receiving queue comprises packet and length;

(6) data structure of UDP transmit queue queue nodes: first address and length that the data structure of UDP transmit queue node comprises packet to be sent, and object member's IP address and port numbers;

(7) data structure of TCP transmit queue queue nodes: the first address data that the data structure of TCP transmit queue node comprises packet to be sent and length l ength, and be connected socket with object member's TCP; TCP send-thread, according to the difference of length field value in this queue nodes, is distinguished packet and different orders, specific as follows:

When length is greater than 0, for general data node, send it;

When length is-1, sets up TCP with all member and be connected;

When length is-2, sets up TCP with mandatory member and be connected;

When length is-3, closes all TCP and connect;

When length is-4, the TCP that closes mandatory member connects;

When length field is-2 or-4, first address pointer data points to the node of member's list

(8) input queue and output queue: the node of input queue and output queue comprises object number information, the object number of the object that storage is updated.

Other step and parameter are identical with one of embodiment one to five.

Embodiment seven: present embodiment is different from one of embodiment one to six: the related thread of step 2 is to be separated in different threads receiving and sending, can remove influencing each other of receiving and send, realize data receiver and data and send concurrent carrying out; Middleware only need to be announced UDP to other members of pilot system and receive the port numbers of socket and the port numbers that TCP receives socket, it is served by system modelling adds notifications message bag, to other members of pilot system, announce these port numbers with the system operation notification message bag that adds of system operation service, its network thread comprising is as follows:

(1) synchronizeing of middleware network thread and NDK protocol stack event scheduler thread: middleware network thread is operation after NDK protocol stack event scheduler thread starts; Utilize the NC_NetStart of NDK to call, in this parameter of calling, comprise Start call back function pointer, scheduler thread calls this call back function after protocol stack is ready, therefore can in this call back function is realized, create and start the some network thread that need, reach desired synchronized relation;

Use semaphore SEM0, each network thread need to wait for that SEM0 effectively could start further flow process; On the other hand, in the Start of NC_NetStart call back function, make the counting of semaphore SEM0 add four (post tetra-times, each network thread consumes a counting)

(2) UDP receiving thread: the process flow diagram that Figure 2 shows that UDP receiving thread.UDP receiving thread receives after data, first carries out nested word binding, then adds data to receiving queue, and transmits reception semaphore, and to activate, UDP message bag is resolved and dispatch thread is processed packet;

(3) UDP send-thread: UDP send-thread wait-semaphore as shown in Figure 3, when pend success, from transmit queue, obtain first packet and send to object member (the IP address and the port number information that comprise object member in transmit queue node);

(4) TCP receiving thread: TCP receiving thread needs a plurality of members of supportive test system to connect simultaneously and sends data, by being used socket select to call realization.The process flow diagram of TCP receiving thread as shown in Figure 4.The variable declaration that this process flow diagram relates to is as follows:

Rdfs_keep:fd_set type, preserves all sockets in thread.

Rdfs:fd_set type, the socket of activity in storage thread.Before calling fdSelect, rdfs_keep is copied to rdfs.

Maxfd:int type, the maximum socket descriptor of thread adds 1.Using maxfd and rdfs as parameter call fdSelect API, i.e. fdSelect (maxfd, & rfds, NULL, NULL, NULL).

Fig. 5 is the process flow diagram of traversal rfds, adjusts the process flow diagram of maxfd and sees Fig. 6 (a) and Fig. 6 (b).Wherein comprise the grand of two self-defining operation fd_set structures, be defined as follows:

#define FD_ISALLCLR(p) ((p)->fds_bits[0]==0)

#define FD_RSHIFT_TEMP(n,p)((p)->fds_bits[0]>>(n))

TCP receiving thread is used fdSelect to monitor and monitors socket and the activity that is connected socket, and process, thereby obtain new connection socket, or receive to obtain tcp data bag, or close the connection of disconnection, receive after data, add data to receiving queue QUE_RcvTcp, and post semaphore SEM_RcvTcp, activation of TCP processing data packets thread is processed packet;

(5) TCP send-thread: the design of this thread need to support to be connected with a plurality of operation of pilot system member and to send data; In resource access device Middleware implementation, this realizes by integrated data in the node of tcp data transmit queue and order.The process flow diagram of TCP send-thread as shown in Figure 7; TCP send-thread wait-semaphore SEM_SndTcp, when pend success, from transmit queue QUE_SndTcp, obtain a node, if packet sends to it object member (in queue nodes, targetsock field is object member socket information); If order, newly-built or close connection; The socket that newly-built connection obtains is stored in the tcpsock field of corresponding member node in member's list;

In TCP send-thread, if newly-built successful connection, post semaphore SEM_Connected; And after closing connection, post semaphore SEM_Done.

Other step and parameter are identical with one of embodiment one to six.

The packet of UDP assembles corresponding interface function design, it is characterized in that middleware has exposed a series of interface functions to operation interface software, while sending instructions such as adding system, statement are ordered, startup operation in web page operation interface, these functions of CGI thread dispatching, assembling request message bag or notification message bag, complete operation requirement; Its interface function comprises all objects of adding pilot system, obtaining system member issue, orders attribute, orders object, order cancellation attribute, order cancellation object, adds pilot system operation, adds pilot system operation and exit pilot system; Its implementation is as follows:

Add pilot system, obtain system member issue all objects, order attribute, order these functions of object and send a request message, wait-for-response message further processing then; Because all UDP message bags are all received by UDP receiving thread, so need extra information that the response message of coupling is sorted out; Just because of this, when the static modeling process service data packet format design of middleware, be provided with message numbering field; Transmit leg guarantees that the every request message sending has unique message numbering, is assumed to be N; Take over party, when replying response message, is also set to N by the message numbering of response message bag; Transmit leg receives after response message, offers the thread of waiting for this message;

During specific implementation, a WaitingReply structure variable that the overall situation is unique is set, SEM_Reply, two semaphores of SEM_SendRequest are set again, wherein SEM_Reply semaphore is for sending request the thread of packet and synchronizeing of the parsing of UDP message bag and dispatch thread, SEM_SendRequest semaphore is used for guaranteeing the mutual exclusion of WaitingReply structure variable, guarantee before receiving response message, the value of variable is not covered by another request.The flow process of this process as shown in Figure 8.

The UDP message bag parsing of related middleware and dispatch thread, heartbeat packet assembling thread, tcp data packing distribution journey, tcp data bag processing threads, its detailed design is as follows:

1) UDP message bag is resolved and dispatch thread: UDP message bag is resolved packet UDP receiving thread being received with dispatch thread and resolved, and does different processing according to the type of packet, and the process flow diagram of this thread as shown in Figure 9; Receive after notification message, upgrade the data of middleware; Receive after request message, need to reply response message bag, and the message numbering that the message numbering of response message bag is request message is set;

2) heartbeat packet assembling thread: add after pilot system at resource access device, heartbeat packet assembling thread sends M_MemberOnline notification message every 50s to each member in member's list. the process flow diagram of this thread is as shown in figure 10;

3) tcp data packing distribution journey: after tcp data packing distribution journey activates, determine the object upgrading, then traversal issue list, sends to by the data after upgrading the member who has ordered this object or association attributes; If detect not yet and connect before transmission packet, first to TCP send-thread, sending and create bind command. Figure 11 has described the execution flow process of tcp data packing distribution journey;

Tcp data packing distribution journey arranges resource object buffer zone, the content in resource object instantiation district is copied to this region, make during issue object value or property value updating message, up protocol conversion process is renewable instantiation region still, and issuing process and renewal process are independent of each other; When operating resource object-instantiated district, follow and obtain and releasing resource lock, thereby guarantee the atomicity to instantiation region operation.Send after bind command, when SEM_Connected semaphore is effective, show successfully to connect;

4) tcp data bag processing threads is resolved the packet receiving, if object value updating message bag, list upgating object instantiation region are ordered in inquiry, then add the object number of object to QUE_Out queue, reactivation descending protocol conversion thread is converted to hardware protocol packet by object; If property value updating message bag, according to the part instantiation region of ordering the Query Result upgating object of list, then remove the more corresponding bits position of new state, when more each bit of new state is all eliminated, add the object number of object to QUE_Out queue, and activate descending protocol conversion thread execution.During upgating object instantiation region, need to use resource lock LCK_ObjOut to protect.Carry out flow process as shown in figure 12;

Thread sends SEM_Out semaphore and activates after descending protocol conversion thread, resets the target update state that more new state is object, for next round object renewal process ready.

Emulation experiment:

For the practical function of five services, carry out five groups of different experiments respectively, verify that whether its service operation is normal, meets HIT-TENA standard.

System modelling service testing: intercept and capture communication data packet in resource access device adds or exits pilot system process, Figure 13 has shown the M_Request_JoinSystem request message bag of intercepting and capturing, Figure 14 and Figure 15 have shown the M_JoinSystem notification message bag intercepted and captured and M_ResignSystem notification message bag (shown in since 2AH byte to latter end, be useful load in message bag, the stem of all the other agreements such as be UDP).Through comparison, these message Bao Jun that resource access device sends meet HIT-TENA requirement (.Sent after M_JoinSystem notification message bag, until send M_ResignSystem notification message bag, other members of system can find resource access device, and resource access device also can view other members.This shows that system modelling service operation is normal.

Declaration management service testing: Figure 16 has shown M_Request_GetMemberObjects request message bag, and Figure 17 has shown the M_Reply_GetMemberObjects message bag of device replied; Figure 18 is M_Request_SubscribeObject request message bag, and Figure 19 is that M_Reply_SubscribeObject replys message bag (shown in be useful load since 2AH byte to latter end in message bag, the stem of all the other agreements such as be UDP).These message Bao Jun meets the requirement of HIT-TENA.By the processing of these packets, the object of other member's issues of pilot system can be checked and order to resource access device, also can process other members' subscription request.Visible, resource access device can normally move declaration management service.

System operation service test: Figure 20 has shown M_JoinSystemExecution notification message bag, Figure 21 shown M_ResignSystemExecution notification message bag (shown in since 2AH byte to latter end, be useful load in message bag, all the other are the stem of the agreements such as UDP), all meet the requirement of HIT-TENA.By these two kinds of packets, resource access device has been ready to move Object Management group service to other member's statements, can start data subscription issuing process.System operation service normal operation.

Object Management group service testing: resource access device sends or process object value updating message bag and property value updating message bag in operation Object Management group service process.Test shows object value or the property value updating message bag that resource access device can acceptance test system member sends, also can normally to each, order member and send object value or property value updating message bag, resource access device and pilot system member can carry out data subscription issuing process.Figure 22 has shown the object value updating message bag that resource access device sends (being wherein useful load since 36H byte to latter end, the stem of all the other agreements such as be TCP), meets the requirement of HIT-TENA.Object Management group service operation is normal.

Lookup service test: the M_MemberOnline message bag that resource access device sends is (shown in be useful load since 2AH byte to latter end in message bag, the stem of all the other agreements such as be UDP) as shown in figure 23, conforms to the requirement of HIT-TENA.Equipment energy timed sending heartbeat data packets, points out other member device normal operations.Lookup service normal operation.

By test, show, resource access device Middleware implementation minimum service function collection, i.e. system modelling service, declaration management service, system operation service, Object Management group service, and lookup service.Resource access device possesses the independent pilot system that participates in and carries out mutual ability.

Claims (7)

1. a method for realizing the HIT-TENA middleware in the DM642 type DSP is characterized in that the method for realizing the HIT-TENA middleware in the DM642 type DSP is realized in the following steps: Step 1. Define the data structure for transmission according to the interface type, data element type, message header format and message body format of different services of the HIT-TENA system; Step 2, middleware is divided into network thread, data processing thread and data assembly thread; Wherein said network thread comprises UDP receiving thread, UDP sending thread, TCP receiving thread and TCP sending thread, middleware according to described in step 1 The data structure is used for message transmission, that is, a method for realizing the HIT-TENA middleware in the DM642 DSP is completed. 2. a kind of method that realizes HIT-TENA middleware in DM642 type DSP according to claim 1, is characterized in that, the different services in described step 1 specifically comprise following five kinds of services: System modeling service, statement management service, system operation service, object management service and discovery service; wherein, the system modeling service, statement management service, system operation service and discovery service belong to the static modeling process. 3. a kind of method realizing HIT-TENA middleware in DM642 type DSP according to claim 1 or 2, is characterized in that, in the described step 1, according to the interface type, the data element of the different services of HIT-TENA system Type, message header format and message body format define the data structure transmitted as follows: First, the data packet transmitted during the static modeling process is composed of a message header and a message body. The format of the message header includes message number, service name length, service name, message type length, message type, message name length, message name , member name length, member name, message body length and message body are 11 parts in total; The service name, message type, and message name are identification strings set for the static modeling process service. Through different service names, four different services are distinguished: system modeling service, statement management service, system operation service, and discovery service , to distinguish different operations according to different message types and message names; Second, the object management service includes multiple types of data packets. After cutting out the data packets that the device does not need to support, there are two message types included in the resource access device object management service, which are attribute value update and object value update; The message format of the attribute value update includes the total length of the data packet, the message type code, the length of the source member name, the source member name, the length of the source object name, the source object name, the length of the source attribute name, the source attribute name, the timestamp identification, the time There are 12 parts including stamp, attribute value length and attribute value data; The update of the object value includes the total length of the data packet, the message type code, the length of the source member name, the name of the source member, the length of the name of the source object, the name of the source object, the timestamp identification, the timestamp, the length of the object value and the data of the object value. Each part, the timestamp field of the attribute value update message and the object value update message is a structure with a size of 28 bytes. 4. a kind of method that realizes HIT-TENA middleware in DM642 type DSP according to claim 3, it is characterized in that described 5 kinds of services organize multiple types of data packets by middleware according to certain rules, realize each The whole process of members participating in the test system can be divided into three states: exiting the test system, in the test system and not running state, and running in the test system. By sending a certain type of data packet, the state is realized switch; When in the state of "exited from the test system", when sending the request message of joining the system and the reply message of joining the system, a message of joining the system will be sent. At this time, the system enters the state of "in the test system and not running", When the system is in the state of "in the test system and not running", when the logout system command is received, the system will go to the state "exited from the test system", and when the execution command is received, it will enter the state of "running in the test system". " state; when the system is in the state of "running in the test system" and receives the logout system execution command, it will return to the state of "in the system and not running"; in the state of "in the test system and not running" or " When the test system is running", members need to send heartbeat packets regularly; when they are in the "test system and not running" state, members can send statement management service message packages, such as sending request message packages and receiving corresponding responses, or sending Notification messages, so as to realize the ordering of objects or attributes; in the "running in test system" state, members can run object management services, receive and process attribute value update messages or object value update message packages, or send attribute value update messages or Object value update message bundle. 5. a kind of method that realizes HIT-TENA middleware in DM642 type DSP according to claim 1, it is characterized in that, in described step 2, all threads are designed by the following steps: Step 1. Design middleware-related data structures according to service requirements; Step 2. Design the relevant network threads of the middleware according to the service requirements; Step 3. According to the service requirements, design the UDP data packet analysis and distribution thread, the heartbeat packet configuration thread, the TCP data packet configuration thread and the TCP data packet processing thread of the middleware. 6. a kind of method realizing HIT-TENA middleware in DM642 type DSP according to claim 1, it is characterized in that, the data structure of definition transmission described in step 1 comprises design member list, member order list, issue list , The data structure of the UDP receiving queue node of the response waiting structure, the data structure of the UDP sending queue node, the data structure of the TCP sending queue node, and the input queue and output queue; (1) Member list: The member list contains various information of members, including member name, IP address and port number of middleware sending static modeling process service data packet, IP address and port number of object management service data packet sending, recent The time when the heartbeat packet is received, the running status of the member and the TCP connection socket; (2) Member order list: the resource access device orders objects or attributes from other members of the test system through the statement management service; Wherein, the order list is used to store these order relationships. The order list includes object numbers, attribute numbers, members, object names, object names, and attribute names, stores object order records and attribute order records, and sets attribute order records for object order records. The number field is FFFFH, the attribute name is an empty string, and the object number and attribute number are the storage numbers of the object and attribute information in the resource access device; (3) Order list: Publish the list to store objects or attributes of resource access devices ordered by other members. The list includes object numbers, attribute numbers, and member list node pointers; (4) Response waiting structure: the process of waiting for the reply message after the structure sends out the request structure for the intermediate message; it includes the message number, the length of the message body and the first address of the message; (5) The data structure of the UDP receiving queue node: the node of the UDP receiving queue contains the first address and length of the data packet; (6) The data structure of the UDP sending queue node: the data structure of the UDP sending queue node includes the first address and length of the data packet to be sent, as well as the IP address and port number of the destination member; (7) The data structure of the TCP sending queue node: the data structure of the TCP sending queue node includes the first address data and length of the data packet to be sent, as well as the TCP connection socket with the destination member; the TCP sending thread is based on the queue node Different values of the length field in the data packet and different commands are distinguished, as follows: When the length is greater than 0, it is a normal data node and sent; When length is -1, establish a TCP connection with all members; When length is -2, establish a TCP connection with the specified member; When length is -3, close all TCP connections; When length is -4, close the TCP connection of the specified member; When the length field is -2 or -4, the first address pointer data points to the node of the member list (8) Input queue and output queue: The nodes of the input queue and output queue contain object number information, and store the object number of the updated object. 7. a kind of method realizing HIT-TENA middleware in DM642 type DSP according to claim 6, it is characterized in that, the thread involved in step 2 is to separate receiving and sending in different threads, can release receiving The interaction between data receiving and data sending can be realized concurrently; the middleware only needs to announce the port number of the UDP receiving socket and the port number of the TCP receiving socket to other members of the test system, and it uses the system modeling service Join the system notification message package, and the system operation service join system operation notification message package to announce these port numbers to other members of the test system, and the network threads it contains are as follows: (1) Synchronization between the middleware network thread and the NDK protocol stack event scheduler thread: the middleware network thread runs after the NDK protocol stack event scheduler thread starts; use the NC_NetStart call of the NDK, and the parameters of the call include the Start callback function pointer , the scheduler thread calls the callback function after the protocol stack is ready, so it can create and start several required network threads in the implementation of the callback function to achieve the required synchronization relationship; Using the semaphore SEM0, each network thread needs to wait for SEM0 to be valid before starting further processes; on the other hand, in the Start callback function of NC_NetStart, the count of the semaphore SEM0 is increased by four; (2) UDP receiving thread: After the UDP receiving thread receives the data, it first performs nested word binding, then adds the data to the receiving queue, and passes the receiving semaphore to activate the UDP data packet parsing and distribution thread to process the data packet. deal with; (3) UDP sending thread: UDP sending thread waits for the semaphore. When the pend succeeds, it gets a data packet from the sending queue and sends it to the destination member; (4) TCP receiving thread: The TCP receiving thread needs to support multiple members of the test system to connect and send data at the same time, which is realized by using the socket select call. The TCP receiving thread uses fdSelect to monitor the activities of the listening socket and the connecting socket. And process it to get a new connection socket, or receive a TCP packet, or close a disconnected connection. After receiving the data, add the data to the receiving queue QUE_RcvTcp, and post the semaphore SEM_RcvTcp to activate the TCP packet The processing thread processes the data packets; (5) TCP sending thread: the design of this thread needs to support the connection and sending data with multiple running members of the test system; in the implementation of resource access device middleware, this is achieved by integrating data and commands in the nodes of the TCP data sending queue accomplish; The TCP sending thread waits for the semaphore SEM_SndTcp. When the pend succeeds, it obtains a node from the sending queue QUE_SndTcp. If it is a data packet, it sends it to the destination member; if it is a command, it creates or closes the connection; The socket is stored in the tcpsock field of the corresponding member node in the member list; In the TCP sending thread, if the new connection is successful, the post semaphore SEM_Connected; and after the connection is closed, the post semaphore SEM_Done.

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